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Rev | Author | Line No. | Line |
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1331 | giacomo | 1 | /* |
2 | * Project: S.Ha.R.K. |
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3 | * |
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4 | * Coordinators: Giorgio Buttazzo <giorgio@sssup.it> |
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5 | * |
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6 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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7 | * |
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8 | * http://www.sssup.it |
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9 | * http://retis.sssup.it |
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10 | * http://shark.sssup.it |
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11 | */ |
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12 | |||
13 | /* |
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14 | * Copyright (C) 2000 Paolo Gai |
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15 | * |
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16 | * This program is free software; you can redistribute it and/or modify |
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17 | * it under the terms of the GNU General Public License as published by |
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18 | * the Free Software Foundation; either version 2 of the License, or |
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19 | * (at your option) any later version. |
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20 | * |
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21 | * This program is distributed in the hope that it will be useful, |
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22 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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23 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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24 | * GNU General Public License for more details. |
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25 | * |
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26 | * You should have received a copy of the GNU General Public License |
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27 | * along with this program; if not, write to the Free Software |
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28 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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29 | * |
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30 | */ |
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31 | |||
32 | #include "chimera.h" |
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33 | |||
34 | void my_close(void *arg) |
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35 | { |
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36 | int i; |
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37 | TIME tmp; |
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38 | |||
39 | end_send(); |
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40 | |||
41 | for (i=3; i<MAX_PROC; i++){ |
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42 | if (!jet_getstat(i, NULL, &tmp, NULL, NULL)) |
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43 | kern_printf("Task Name : %s - Max Time : %d\n", proc_table[i].name, (int)tmp); |
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44 | } |
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45 | } |
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46 | |||
1333 | giacomo | 47 | void action_stand_up(void) { |
48 | |||
1334 | giacomo | 49 | static struct action_event e[20]; |
1333 | giacomo | 50 | int i,temp; |
51 | |||
1334 | giacomo | 52 | for (i=0;i<3;i++) { |
1333 | giacomo | 53 | |
1334 | giacomo | 54 | kern_gettime(&(e[i].time)); |
55 | ADDUSEC2TIMESPEC(10000000,&(e[i].time)); |
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56 | temp = i*1000000; |
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57 | ADDUSEC2TIMESPEC(temp,&(e[i].time)); |
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1333 | giacomo | 58 | |
1334 | giacomo | 59 | e[i].type = EVT_SET_MASK_LEG_ANGLE; |
60 | e[i].mask = 1 << i; |
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1336 | giacomo | 61 | e[i].ang.a = 45 * 3600; |
62 | e[i].ang.b = 0; |
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63 | e[i].ang.c = 0; |
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64 | e[i].pwm = 7; |
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1333 | giacomo | 65 | |
1334 | giacomo | 66 | insert_action_event(&(e[i])); |
1333 | giacomo | 67 | |
68 | } |
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1334 | giacomo | 69 | |
70 | for (i=0;i<3;i++) { |
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1333 | giacomo | 71 | |
1334 | giacomo | 72 | kern_gettime(&(e[6+i].time)); |
73 | ADDUSEC2TIMESPEC(20000000,&(e[6+i].time)); |
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74 | temp = i*1000000; |
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75 | ADDUSEC2TIMESPEC(temp,&(e[6+i].time)); |
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76 | |||
77 | e[6+i].type = EVT_SET_MASK_LEG_ANGLE; |
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78 | e[6+i].mask = 1 << i; |
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1336 | giacomo | 79 | e[6+i].ang.a = 135 * 3600; |
80 | e[6+i].ang.b = 0; |
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81 | e[6+i].ang.c = 0; |
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82 | e[6+i].pwm = 7; |
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83 | |||
84 | |||
1334 | giacomo | 85 | insert_action_event(&(e[6+i])); |
86 | |||
87 | } |
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1335 | giacomo | 88 | |
1333 | giacomo | 89 | } |
90 | |||
1331 | giacomo | 91 | int main(int argc, char **argv) |
92 | { |
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93 | TIME seme; |
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94 | |||
95 | seme = sys_gettime(NULL); |
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96 | srand(seme); |
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97 | |||
98 | sys_atrunlevel(my_close, NULL, RUNLEVEL_BEFORE_EXIT); |
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99 | |||
1335 | giacomo | 100 | clear(); |
101 | |||
1331 | giacomo | 102 | init_send(); /* Comunication */ |
103 | init_key(); /* Keyboard */ |
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104 | |||
1333 | giacomo | 105 | action_stand_up(); |
106 | |||
1331 | giacomo | 107 | return 0; |
108 | } |